CN114625117B - Intelligent mobile device, control method thereof, electronic device, and storage medium - Google Patents
Intelligent mobile device, control method thereof, electronic device, and storage mediumInfo
- Publication number
- CN114625117B CN114625117B CN202110491513.7A CN202110491513A CN114625117B CN 114625117 B CN114625117 B CN 114625117B CN 202110491513 A CN202110491513 A CN 202110491513A CN 114625117 B CN114625117 B CN 114625117B
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- intelligent mobile
- mobile device
- attribute information
- trapped
- medium attribute
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/60—Intended control result
- G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
- G05D1/639—Resolving or avoiding being stuck or obstructed
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/60—Intended control result
- G05D1/648—Performing a task within a working area or space, e.g. cleaning
- G05D1/6484—Performing a task within a working area or space, e.g. cleaning by taking into account parameters or characteristics of the working area or space, e.g. size or shape
- G05D1/6485—Performing a task within a working area or space, e.g. cleaning by taking into account parameters or characteristics of the working area or space, e.g. size or shape by taking into account surface type, e.g. carpeting
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2105/00—Specific applications of the controlled vehicles
- G05D2105/10—Specific applications of the controlled vehicles for cleaning, vacuuming or polishing
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2107/00—Specific environments of the controlled vehicles
- G05D2107/40—Indoor domestic environment
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2109/00—Types of controlled vehicles
- G05D2109/10—Land vehicles
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the invention discloses an intelligent mobile device, a control method thereof, electronic equipment and a storage medium, wherein when the intelligent mobile device is trapped, first ground medium attribute information of a trapped area is acquired, the first ground medium attribute information comprises the medium attribute information of the ground of the trapped area, and if the first ground medium attribute information is matched with target ground medium attribute information, after the intelligent mobile device leaves the trapped area, the intelligent mobile device is controlled to reenter the trapped area along a direction different from the direction when the intelligent mobile device enters the trapped area, so that the risk that the intelligent mobile device enters the trapped area again is reduced under the condition that the types of the ground mediums are different and the relative height difference exists between the two mediums, and the intelligent mobile device normally moves in the trapped area to complete an operation task.
Description
Technical Field
The invention relates to the technical field of intelligent control, in particular to intelligent mobile equipment, a control method thereof, electronic equipment and a storage medium.
Background
Along with the improvement of living standard and the development of technology, intelligent mobile equipment such as cleaning robots and the like are widely applied. In the working process, the intelligent mobile device usually needs to travel on different floors (such as hard floors or carpets), but when one type of floor medium travels to another type of floor medium, the intelligent mobile device is trapped and cannot move due to the difference of the types of the floor mediums and the relative height difference between the two mediums, so that the working task cannot be completed.
Disclosure of Invention
In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the invention is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
In a first aspect, an embodiment of the present invention provides a control method for an intelligent mobile device, including:
when the intelligent mobile equipment is trapped by a card, acquiring first ground medium attribute information of the trapped area, wherein the first ground medium attribute information comprises the medium attribute information of the ground of the trapped area;
And if the first ground medium attribute information is the target ground medium attribute information and is matched with the target ground medium attribute information, controlling the intelligent mobile device to reenter the trapped area in a direction different from the direction when the intelligent mobile device enters the trapped area after leaving the trapped area.
Optionally, the controlling the smart mobile device to reenter the trapped area in a direction different from a direction when entering the trapped area includes:
determining a target advancing direction and a target advancing distance of the intelligent mobile equipment; the intelligent mobile equipment comprises a target advancing direction, a target advancing distance and a target moving distance, wherein the target advancing direction is different from the direction when entering the trapping region and points to the trapping region;
And controlling the intelligent mobile device to move along the target advancing direction based on the target advancing distance so as to enable the intelligent mobile device to reenter the trapped area.
Optionally, the controlling the intelligent mobile device along the target advancing direction based on the target advancing distance, so that the intelligent mobile device reenters the trapped area includes:
controlling the intelligent mobile equipment to travel along the target advancing direction by taking the position of the intelligent mobile equipment successfully getting rid of the trouble as a starting point;
Acquiring a first real-time distance traveled by the intelligent mobile device in the target advancing direction and second ground medium attribute information, wherein the second ground medium attribute information comprises the ground medium attribute information detected by the intelligent mobile device in the target advancing direction;
And if the first real-time distance is greater than or equal to the target advancing distance and the second ground medium attribute information is matched with the target ground medium attribute information, determining that the intelligent mobile equipment reenters the trapping area along the edge.
Optionally, the determining the target advancing direction and the target advancing distance of the intelligent mobile device includes:
taking the position of the intelligent mobile equipment successfully getting rid of the trouble as a starting point, and clockwise or anticlockwise deflecting by a preset angle to obtain the target advancing direction of the intelligent mobile equipment;
obtaining a reference distance, wherein the reference distance is a moving distance of the intelligent mobile device from a trapped position to the position where the trapping is successful;
and obtaining the target advancing distance of the intelligent mobile equipment based on the included angle and the reference distance.
Optionally, the preset angle is not less than 30 °.
Optionally, the smart mobile device leaves the trapped area, specifically including:
acquiring a preset backward direction, wherein the preset backward direction is opposite to the direction of entering the trapping region;
And controlling the intelligent mobile equipment to leave the trapped area along the preset backward direction.
Optionally, the method further comprises confirming that the intelligent mobile device has left the trapped area, specifically comprising:
Acquiring a second real-time distance traveled by the intelligent device along the preset backward direction;
and if the second real-time distance is greater than or equal to a preset backward distance, determining that the intelligent mobile device leaves the trapped area.
Optionally, the method further comprises confirming that the intelligent mobile device has left the trapped area, specifically comprising:
and when the current ground medium attribute information is not matched with the target ground medium attribute information, determining that the intelligent mobile equipment leaves the trapped area.
Optionally, after the controlling the smart mobile device to reenter the trapped area in a direction different from the direction when the smart mobile device enters the trapped area, the method further includes:
And after the intelligent mobile device runs out of the trapped area, controlling the intelligent mobile device to continue running along the direction when the intelligent mobile device enters the trapped area.
In a second aspect, an embodiment of the present invention provides an intelligent mobile device, including an environmental monitoring sensor and a controller;
The environment monitoring sensor is used for detecting the ground medium attribute of the intelligent mobile equipment in the moving process to obtain first ground medium attribute information, second ground medium attribute information or current ground medium attribute information, wherein the first ground medium attribute information comprises the ground medium attribute information of the trapped area, the second ground medium attribute information comprises the ground medium attribute information detected in the target advancing direction, and the target advancing direction is different from the direction when entering the trapped area and points to the trapped area;
the controller is configured to perform the control method of the intelligent mobile device described above.
In a third aspect, an embodiment of the present invention provides an electronic device, including a processor and a memory, where the memory is configured to store at least one executable instruction, where the executable instruction causes the processor to execute the control method of the intelligent mobile device.
In a fourth aspect, an embodiment of the present invention provides a storage medium storing computer program instructions that, when invoked and executed by a processor, implement the steps of the control method of a smart mobile device described above.
According to the intelligent mobile device, the control method thereof, the electronic device and the storage medium provided by the embodiment of the invention, under the condition that the difference exists between the types of the ground media and the relative height difference exists between the two media, the risk that the intelligent mobile device enters the trapped area and is trapped again is reduced, so that the intelligent mobile device moves normally in the trapped area, and the operation task is completed.
Drawings
The following drawings of the present invention are included as part of the description of embodiments of the invention. The drawings illustrate embodiments of the invention and their description to explain the principles of the invention.
In the accompanying drawings:
fig. 1 is a schematic structural view of a ranging sensor of a cleaning robot according to an alternative embodiment of the present invention;
Fig. 2 is a perspective view of a cleaning robot according to an alternative embodiment of the present invention;
FIG. 3 is a flow chart of a method of controlling a smart mobile device in accordance with an alternative embodiment of the present invention;
Fig. 4 is a flowchart of step S302;
FIG. 5 is a schematic diagram of a travel route for a smart mobile device in accordance with an alternative embodiment of the present invention;
Fig. 6 is a flowchart of step S401;
FIG. 7 is a schematic illustration of the calculation of the target heading according to an alternative embodiment of the invention;
fig. 8 is a flowchart of step S402;
FIG. 9 is a flowchart of controlling the smart mobile device to leave the trapped area in step S302 according to an alternative embodiment of the present invention;
FIG. 10 is a flow chart of a method for confirming that a smart mobile device leaves a trapped area in accordance with an alternative embodiment of the invention.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is intended to include the plural unless the context clearly indicates otherwise. Furthermore, it will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Exemplary embodiments according to the present invention will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. It should be appreciated that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art.
The control method of the intelligent mobile device provided by the application can be applied to the intelligent mobile device, and in order to clearly describe the control method of the intelligent mobile device, the intelligent mobile device provided by the second aspect of the application is first described in detail.
As shown in fig. 1 and 2, the smart mobile device 1 includes, but is not limited to including, an environmental monitoring sensor 2, a walking assembly 3, and a controller.
The walking assembly 3 is a part related to movement of the intelligent mobile device 1, the walking unit comprises a driving wheel 31 and a universal wheel 32, the universal wheel 32 and the driving wheel 31 are matched to realize steering and movement of the intelligent mobile device 1, the driving wheel 31 is respectively arranged at the left side and the right side of the bottom of the intelligent mobile device 1, and the universal wheel 32 is arranged on the central line of the bottom surface of the intelligent mobile device 1. Wherein, each driving wheel 31 is provided with a driving wheel motor, and the driving wheels 31 rotate under the driving of the driving wheel motor. After the driving wheel 31 rotates, the intelligent mobile device 1 is driven to move. The steering angle of the intelligent mobile device 1 can be controlled by controlling the rotational speed difference of the left and right driving wheels 31.
The controller may include, but is not limited to, a central processing unit (CPU, central processing unit), control circuitry, and the like.
The environment monitoring sensor 2 may include, but is not limited to, a vision sensor, a laser sensor, an ultrasonic sensor, an infrared sensor, a video camera, a depth camera, or the like, and is configured to detect the type of the surface medium, recognize the type of the surface medium, and transmit the detection result to the controller. With the direction in which the intelligent mobile device travels in the normal operation state as the front, the environment monitoring sensor 2 is generally provided with the front end or the bottom end of the intelligent mobile device, so that the ground medium at the front or the current position can be known in time.
Further, the intelligent mobile device is also provided with a communication unit for conducting wired or wireless communication with external equipment. Which may access a wireless network based on a communication standard, such as WiFi,2G or 3G, or a combination thereof. In one exemplary embodiment, the communication unit receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication unit further includes a Near Field Communication (NFC) module to facilitate short range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.
The intelligent mobile device of an exemplary embodiment of the present invention may be a cleaning robot, which in this case also illustratively comprises a cleaning assembly.
The cleaning assembly may include, but is not limited to, a mop, a sweeper 4, a spray, and the like. The mop is used for cleaning the floor of the area to be cleaned, the number of the mop can be one or more, the mop in the mop can be made of cotton thread cloth, fiber cloth and the like, and the mop is arranged at the bottom of the cleaning robot body.
The cleaning member 4 may include at least a rolling brush structure and a dust suction structure, the rolling brush structure may include a rotating roller and brush teeth provided on the rotating roller, the rotating roller is provided in the cleaning robot main body, and a dust suction opening is provided at a lower portion of the cleaning robot main body, and the brush teeth protrude out of the dust suction opening to contact with an area to be cleaned. In practical application, the driving motor is used for driving the rotating roller and brush teeth on the rotating roller to rotate so as to perform cleaning work, and garbage is sucked into the dust collection structure through the collecting inlet and conveyed into the dust collection structure. The dust collection structure can comprise a dust collection box, a dust collection fan and corresponding channels, the dust collection fan is provided with an air inlet and an air outlet, the air inlet of the dust collection fan is communicated with the dust collection box through the air inlet channel, and the air outlet of the dust collection fan is communicated with the air exhaust channel. In practical application, the fan motor in the dust collection fan drives the fan to rotate, so that the air flow doped with garbage enters the dust collection box, the garbage in the air flow is filtered by the filter screen in the dust collection box and then remains in the dust collection box, and the filtered air flow is discharged out of the cleaning robot through the air exhaust channel by the air outlet of the dust collection fan.
Taking intelligent mobile equipment as an example of a cleaning robot, when the cleaning robot advances from a hard floor to a medium-long-hair carpet, the thickness of the medium-long-hair carpet is equivalent to the size of a gap between the front collision of the cleaning robot and the floor, and even is higher than the front collision height, if the posture and the action of the cleaning robot in carpet loading are improper, the situation that the cleaning robot is trapped by the carpet due to carpet edge pushing, carpet slipping or carpet loading resistance is increased is extremely easy to occur, and the carpet cannot be cleaned is avoided.
A method of controlling a cleaning robot according to the first aspect of the present invention will be described in detail.
As shown in fig. 3, a first aspect of an embodiment of the present invention provides a control method of an intelligent mobile device, including:
step S301, when the intelligent mobile device is trapped, acquiring first ground medium attribute information of the trapped area, wherein the first ground medium attribute information comprises the medium attribute information of the ground of the trapped area.
Because the working environment of the intelligent mobile equipment is complex, the intelligent mobile equipment can be trapped in certain areas, and the judgment whether the intelligent mobile equipment is trapped or not can be carried out by adopting the following judgment conditions that the driving wheel of the intelligent mobile equipment slips, overflows, cannot continue to advance and the like.
The first surface media attribute information may be detected by an environmental monitoring sensor disposed on the smart mobile device. Taking an environment monitoring sensor as a visual sensor as an example, shooting a ground medium image of the intelligent mobile equipment in a preset advancing direction through the visual sensor, and processing the ground medium image by utilizing a preset identification algorithm and ground medium model characteristics so as to obtain related parameters about the ground medium, namely first ground medium attribute information. In another embodiment, taking an environment monitoring sensor as an example, an ultrasonic sensor is generally arranged at the bottom of the intelligent mobile device and near the position of the intelligent mobile device in the walking direction, and medium attribute information of the ground where the intelligent mobile device is currently located is detected through an ultrasonic principle. Among the above mentioned floor medium model features include, but are not limited to, the color, pattern, etc. of the floor medium.
Step S302, if the first surface medium attribute information is matched with the target surface medium attribute information, after the intelligent mobile device leaves the trapped area, the intelligent mobile device is controlled to reenter the trapped area in a direction different from the direction when the intelligent mobile device enters the trapped area.
The target ground medium attribute information may be ground medium attribute information that is prone to a trapping phenomenon among different ground medium attribute information, for example, a carpet is locally laid on a hard floor, and the intelligent mobile device is prone to trapping during the process of traveling from the hard floor to the carpet, so that the target ground medium attribute information is carpet information.
And matching the first ground medium attribute information with the target ground medium attribute information, and if the first ground medium attribute information is successfully matched with the target ground medium attribute information, determining that the first medium attribute information is the target ground medium attribute information, thereby determining that the ground medium attribute information is changed, that is, that the intelligent mobile equipment is positioned at the junction of two different ground mediums, and determining that the intelligent mobile equipment is trapped due to the change of the ground mediums. For example, the area where the intelligent mobile device works is that a carpet is locally paved on the hard floor, the target ground medium attribute information is carpet information, when the intelligent mobile device is trapped, and the acquired first ground medium attribute information is matched with the carpet information, it can be determined that the intelligent mobile device is trapped again in the trapped area due to factors such as pushing up of the edge of the carpet, slipping of the upper carpet or increasing resistance of the upper carpet in the process of moving the intelligent mobile device onto the carpet, and the intelligent mobile device is prevented from moving forward to be trapped.
As shown in fig. 4, in a specific application, in the above embodiment, step S302 includes:
Step S401, determining a target advancing direction and a target advancing distance of the intelligent mobile device, wherein the target advancing direction is different from a direction when entering a trapping area and points to the trapping area, and the target advancing distance is a distance between the intelligent mobile device and the edge of the trapping area in the target advancing direction after getting rid of trapping.
The target advancing direction is set to be different from the direction when the intelligent mobile device enters the trapping area and points to the direction of the target area, so that the intelligent mobile device can advance to a new ground medium junction point along the target advancing direction after leaving the trapping area, namely, a position with a certain distance from the original ground medium junction point, and the situation that the intelligent mobile device is trapped again at the original ground medium junction point is avoided.
The target advancing distance is set to be the distance between the intelligent mobile device and the edge of the trapped area in the target advancing direction, so that the advancing distance of the intelligent mobile device can be reduced, the power consumption of the intelligent mobile device is reduced, and the advancing time is shortened.
As shown in fig. 5, the solid arrow is a direction when entering the trapping area, the dashed arrow is a target advancing direction, the smart mobile device is trapped at the ground medium boundary point a in the process of advancing along the direction when entering the trapping area, and the point B is the final position of the smart mobile device when leaving the trapping area, and the new ground medium boundary point C is determined according to the target advancing direction and the target advancing distance, so that the possibility of walking to the ground medium boundary point a again and being trapped is avoided.
Specifically, as shown in fig. 6, this step includes the steps of:
And step S601, taking the successfully-trapped position of the intelligent mobile device as a starting point, and clockwise or anticlockwise deflecting by a preset angle to obtain the target advancing direction of the intelligent mobile device.
The deflection direction and the preset angle can be set by the staff. Further, the preset angle is set to be a larger angle, so that the situation that a new ground medium junction is too close to an original ground medium junction and is trapped again is avoided. Optionally, the preset angle is not less than 30 °.
Step S602, obtaining a reference distance, wherein the reference distance is a moving distance of the intelligent mobile device from a trapped position to a successfully trapped position.
Illustratively, as shown in FIG. 5, the reference distance is the distance between points A and B.
Step S603, obtaining the target advancing distance of the intelligent mobile equipment based on the preset angle and the reference distance.
In the case where the intelligent mobile device is a cleaning robot and the area where the intelligent mobile device operates is a carpet partially laid on a hard floor, the angle between the advance direction and the edge of the carpet is usually preset to be 90 °. For example, taking fig. 7 as an example, the target advancing distance L, that is, the distance that the intelligent mobile device advances to the new ground medium boundary point along the target advancing direction after getting rid of the trouble, can be calculated by knowing the reference distance d, the preset angle β and using the trigonometric function.
Step S402, based on the target advancing distance, the intelligent mobile device is controlled to move along the target advancing direction so as to reenter the trapped area.
And the intelligent mobile device is controlled to advance by the target advancing distance along the target advancing direction, so that the intelligent mobile device reaches a new ground medium junction point to reenter the trapped area.
Specifically, as shown in fig. 8, the control step specifically includes:
Step S801, the intelligent mobile device is controlled to travel along the target advancing direction by taking the position of the intelligent mobile device successfully getting rid of the trouble as a starting point.
As shown in fig. 5, the smart mobile device travels straight from the last location point B where the escape was successful, along the target advancing direction, toward the new terrestrial media junction point C. The straight line running can reduce the running distance and time, so that the power consumption of the intelligent mobile device can be reduced, and the intelligent mobile device can reach a new ground medium junction as soon as possible.
Step S802, acquiring a first real-time distance traveled by the intelligent mobile device in the target advancing direction and second ground medium attribute information, wherein the second ground medium attribute information comprises the ground medium attribute information detected by the intelligent mobile device in the target advancing direction.
Step 803, if the first real-time distance is greater than or equal to the target advancing distance and the second terrestrial medium attribute information is matched with the target terrestrial medium attribute information, determining that the intelligent mobile device reenters the trapped area along the target advancing direction.
Whether the intelligent mobile equipment moves to the trapping area along the target advancing direction is judged through the advancing distance and the identification of the ground medium attribute information, and the judgment accuracy can be improved. Continuously taking the intelligent mobile equipment as a cleaning robot, taking the case that a carpet is paved on a hard floor in a local area where the intelligent mobile equipment works as an example, and if the first real-time distance is 0.5m, the target advancing distance is 0.45m, and the second ground medium attribute information is matched with the carpet information, then the intelligent mobile equipment can be determined to reenter the trapping area along the target advancing direction.
In the following description of the specific escaping procedure of the mobile intelligent robot, in the above embodiment, as shown in fig. 9, the step S302 of leaving the trapped area by the intelligent mobile device specifically includes:
step S901, obtaining a preset backward direction, wherein the preset backward direction is opposite to the direction when entering a trapped area.
The preset backward direction is in the same straight line as the entering of the trapped region, for example, the direction perpendicular to the edge of the trapped region and forward when entering the trapped region, and then the preset backward direction is the direction perpendicular to the edge of the trapped region and backward.
And step 902, along a preset backward direction, controlling the intelligent mobile equipment to leave the trapped area.
The back-off distance can be preset according to the size of the intelligent mobile equipment so as to ensure that the intelligent mobile equipment can completely separate from the trapped point after the preset back-off distance is reached, the success of the escape is improved, and whether the intelligent mobile equipment has driven off the trapped area can be determined according to the detection result of the environment monitoring sensor in the back-off process.
The linear backward movement can reduce the backward movement distance and time, so that the power consumption of the intelligent mobile device can be reduced, and the intelligent mobile device can be trapped as soon as possible.
In some possible implementations, the method further includes a step of confirming that the smart mobile device has left the trapped area, and for confirming that the smart mobile device has left the trapped area, a plurality of implementations may be used, and different judging modes are described in detail below.
In a first implementation, as shown in fig. 10, the confirmation that the smart mobile device has left the trapped area specifically includes:
step S1001, obtaining a second real-time distance traveled by the intelligent device along a preset backward direction.
Step S1002, if the second real-time distance is greater than or equal to the preset backward distance, determining that the intelligent mobile device has left the trapped area.
The intelligent mobile device is determined whether to get rid of poverty successfully by comparing the real-time backward distance with the preset backward distance, the judgment mode is simple, the requirement on a controller of the intelligent mobile device is low, and the intelligent mobile device is easy to realize.
For example, if the preset back-off distance is 0.7m and the second real-time distance is 0.71m, it may be determined that the smart mobile device is successfully trapped.
In a second implementation manner, the confirming that the smart mobile device has left the trapped area specifically includes:
and when the current ground medium attribute information is not matched with the target ground medium attribute information, determining that the intelligent mobile device leaves the trapped area.
Whether the intelligent mobile device gets rid of the trapping is successful is determined by the identification of the attribute information of the current ground medium through the environment monitoring sensor arranged on the intelligent mobile device, so that whether the front end of the intelligent mobile device gets away from the trapping point can be determined, whether the intelligent mobile device gets rid of the trapping integrally is determined, and the judgment is performed by the matching of the detected attribute information of the medium and the attribute information of the target ground medium, so that the judgment accuracy is improved compared with the first implementation mode.
In other possible implementations, after step S302 in the foregoing embodiment, the method further includes:
And step S303, after the intelligent mobile device moves out of the trapped area, controlling the intelligent mobile device to move along the direction when the intelligent mobile device enters the trapped area.
After the intelligent mobile device runs out of the trapped area, the advancing direction of the intelligent mobile device is controlled to be adjusted to the advancing direction when the intelligent mobile device enters the trapped area before, so that the intelligent mobile device advances along the moving direction of normal operation, and the intelligent mobile device can continue to carry out normal advancing and operation, and partial areas are prevented from being missed.
In a second aspect, an embodiment of the present invention provides an intelligent mobile device, including an environment monitoring sensor and a controller, where the environment monitoring sensor is configured to detect a ground medium attribute in a moving process of the intelligent mobile device, so as to obtain first ground medium attribute information, second ground medium attribute information, or current ground medium attribute information, where the first ground medium attribute information includes ground medium attribute information of a trapped area, the second ground medium attribute information includes ground medium attribute information detected in a target advancing direction, and the target advancing direction is different from a direction when the intelligent mobile device enters the trapped area and points to the trapped area, and the controller is configured to execute the control method of the intelligent mobile device.
In a third aspect, an embodiment of the present invention provides an electronic device, including a processor and a memory, where the memory is configured to store at least one executable instruction, and the executable instruction causes the processor to execute the control method of the intelligent mobile device.
The processor may be a central processing unit, CPU, or an Application specific integrated Circuit, ASIC (Application SPECIFIC INTEGRATED circuits), or one or more integrated circuits configured to implement embodiments of the present invention. The computer device may include one or more processors of the same type, such as one or more CPUs, or of different types, such as one or more CPUs and one or more ASICs.
And the memory is used for storing programs. The memory may comprise high-speed RAM memory or may further comprise non-volatile memory, such as at least one disk memory.
The computer readable storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.
In a fourth aspect, an embodiment of the present invention provides a storage medium storing computer program instructions that, when invoked and executed by a processor, implement the steps of the control method of a smart mobile device described above.
The present invention has been illustrated by the above-described embodiments, but it should be understood that the above-described embodiments are for purposes of illustration and description only and are not intended to limit the invention to the embodiments described. In addition, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many variations and modifications are possible in light of the teachings of the invention, which variations and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (12)
1. A control method of an intelligent mobile device, comprising:
when the intelligent mobile equipment is trapped by a card, acquiring first ground medium attribute information of the trapped area, wherein the first ground medium attribute information comprises the medium attribute information of the ground of the trapped area;
And if the first ground medium attribute information is matched with the target ground medium attribute information, after the intelligent mobile equipment leaves the trapped area, controlling the intelligent mobile equipment to reenter the trapped area along a direction different from the direction when the intelligent mobile equipment enters the trapped area, wherein the target ground medium attribute information is ground medium attribute information with a trapped phenomenon in different ground medium attribute information.
2. The method of claim 1, wherein the controlling the smart mobile device to reenter the trapped area in a direction different from a direction in which the trapped area was entered comprises:
determining a target advancing direction and a target advancing distance of the intelligent mobile equipment; the intelligent mobile equipment comprises a target advancing direction, a target advancing distance and a target moving distance, wherein the target advancing direction is different from the direction when entering the trapping region and points to the trapping region;
And controlling the intelligent mobile device to move along the target advancing direction based on the target advancing distance so as to enable the intelligent mobile device to reenter the trapped area.
3. The method of claim 2, wherein controlling the smart mobile device in the target heading based on the target heading distance to re-enter the trapped area comprises:
controlling the intelligent mobile equipment to travel along the target advancing direction by taking the position of the intelligent mobile equipment successfully getting rid of the trouble as a starting point;
Acquiring a first real-time distance traveled by the intelligent mobile device in the target advancing direction and second ground medium attribute information, wherein the second ground medium attribute information comprises the ground medium attribute information detected by the intelligent mobile device in the target advancing direction;
And if the first real-time distance is greater than or equal to the target advancing distance and the second ground medium attribute information is matched with the target ground medium attribute information, determining that the intelligent mobile equipment reenters the trapping area.
4. The method of claim 2, wherein the determining the target heading and target heading distance of the smart mobile device comprises:
taking the position of the intelligent mobile equipment successfully getting rid of the trouble as a starting point, and clockwise or anticlockwise deflecting by a preset angle to obtain the target advancing direction of the intelligent mobile equipment;
obtaining a reference distance, wherein the reference distance is a moving distance of the intelligent mobile device from a trapped position to the position where the trapping is successful;
and obtaining the target advancing distance of the intelligent mobile equipment based on the preset angle and the reference distance.
5. The method of claim 4, wherein the predetermined angle is not less than 30 °.
6. The method of claim 1, wherein the smart mobile device leaves the trapped area, comprising:
acquiring a preset backward direction, wherein the preset backward direction is opposite to the direction of entering the trapping region;
And controlling the intelligent mobile equipment to leave the trapped area along the preset backward direction.
7. The method of claim 6, further comprising confirming that the smart mobile device has left the trapped area, comprising:
Acquiring a second real-time distance traveled by the intelligent device along the preset backward direction;
and if the second real-time distance is greater than or equal to a preset backward distance, determining that the intelligent mobile device leaves the trapped area.
8. The method of claim 6, further comprising confirming that the smart mobile device has left the trapped area, comprising:
And when the medium attribute information of the current ground is not matched with the medium attribute information of the target ground, determining that the intelligent mobile equipment leaves the trapped area.
9. The method of claim 1, wherein the controlling the smart mobile device to reenter the trapped area in a direction different from a direction in which the trapped area was entered, further comprises:
And after the intelligent mobile device runs out of the trapped area, controlling the intelligent mobile device to continue running along the direction when the intelligent mobile device enters the trapped area.
10. An intelligent mobile device is characterized by comprising an environment monitoring sensor and a controller;
The environment monitoring sensor is used for detecting the ground medium attribute of the intelligent mobile equipment in the moving process to obtain first ground medium attribute information, second ground medium attribute information or current ground medium attribute information, wherein the first ground medium attribute information comprises the ground medium attribute information of the trapped area, the second ground medium attribute information comprises the ground medium attribute information detected in the target advancing direction, and the target advancing direction is different from the direction when entering the trapped area and points to the trapped area;
the controller is configured to perform the control method of the intelligent mobile device of any of claims 1-9.
11. An electronic device comprising a processor and a memory for storing at least one executable instruction that causes the processor to perform the method of controlling a smart mobile device as claimed in any one of claims 1 to 9.
12. A storage medium storing computer program instructions which, when invoked and executed by a processor, implement the steps of the control method of a smart mobile device according to any one of claims 1-9.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110491513.7A CN114625117B (en) | 2021-05-06 | 2021-05-06 | Intelligent mobile device, control method thereof, electronic device, and storage medium |
| PCT/CN2022/079586 WO2022233182A1 (en) | 2021-05-06 | 2022-03-07 | Intelligent mobile device and control method therefor, and electronic device and storage medium |
| US18/559,173 US12481295B2 (en) | 2021-05-06 | 2022-03-07 | Intelligent mobile device and control method therefor, and electronic device and storage medium |
| EP22798524.9A EP4336298A4 (en) | 2021-05-06 | 2022-03-07 | Intelligent mobile device and control method therefor, as well as electronic device and storage medium |
Applications Claiming Priority (1)
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| CN202110491513.7A CN114625117B (en) | 2021-05-06 | 2021-05-06 | Intelligent mobile device, control method thereof, electronic device, and storage medium |
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| CN114625117A CN114625117A (en) | 2022-06-14 |
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| EP (1) | EP4336298A4 (en) |
| CN (1) | CN114625117B (en) |
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| EP4336298A4 (en) | 2025-05-14 |
| CN114625117A (en) | 2022-06-14 |
| WO2022233182A1 (en) | 2022-11-10 |
| EP4336298A1 (en) | 2024-03-13 |
| US12481295B2 (en) | 2025-11-25 |
| US20240231382A1 (en) | 2024-07-11 |
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